cmake_minimum_required(VERSION 3.8)
project(nav_msg_pkg)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
# 依赖库
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(action_msgs REQUIRED)
find_package(builtin_interfaces REQUIRED)

install(
  DIRECTORY
  action
  msg
  srv
  DESTINATION
  share/${PROJECT_NAME})

# 添加自定义消息  msg文件首字母必须大写
rosidl_generate_interfaces(${PROJECT_NAME}
    "action/NavToPose.action"
    "action/Progress.action"
    "msg/NavFeedback.msg"
    "msg/Waypoint.msg" 
    "msg/Task.msg"
    "msg/BaseResponse.msg"
    "srv/AddInts.srv" 
    "srv/CancelTask.srv"
    "srv/SendTask.srv"
    DEPENDENCIES 
    "geometry_msgs"
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
